相关论文: TARA: A Low-Cost 3D-Printed Robotic Arm for Access…

Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots are constrained by high-inertia design, limited compliance,…

This paper presents Forte, a fully 3D-printable, 6-DoF robotic arm designed to achieve near industrial-grade performance - 0.63 kg payload, 0.467 m reach, and sub-millimeter repeatability - at a material cost under $215. As an accessible…

General-purpose robots should possess human-like dexterity and agility to perform tasks with the same versatility as us. A human-like form factor further enables the use of vast datasets of human-hand interactions. However, the primary…

This paper presents the DeltaZ robot, a centimeter-scale, low-cost, delta-style robot that allows for a broad range of capabilities and robust functionalities. Current technologies allow DeltaZ to be 3D-printed from soft and rigid materials…

Standardized evaluation measures have aided in the progress of machine learning approaches in disciplines such as computer vision and machine translation. In this paper, we make the case that robotic learning would also benefit from…

Dexterous manipulation is a fundamental capability for robotic systems, yet progress has been limited by hardware trade-offs between precision, compactness, strength, and affordability. Existing control methods impose compromises on hand…

Dexterous manipulation has been a long-standing challenge in robotics. While machine learning techniques have shown some promise, results have largely been currently limited to simulation. This can be mostly attributed to the lack of…

This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking mount(s), and software architecture including a control system. By analyzing the target…

In this work, the novel, open-source humanoid robot, PANDORA, is presented where a majority of the structural elements are manufactured using 3D-printed compliant materials. As opposed to contemporary approaches that incorporate the elastic…

Many amputees throughout the world are left with limited options to personally own a prosthetic arm due to the expensive cost, mechanical system complexity, and lack of availability. The three main control methods of prosthetic hands are:…

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring…

The COVID-19 pandemic has revealed the importance of digital fabrication to enable online learning, which remains a challenge for robotics courses. We introduce a teaching methodology that allows students to participate remotely in a…

We present an approach to experimental radar systems education based on a combination of commercial low-cost hardware with modern open-source software technologies. Following a discussion of the general top-level architecture of flexible,…

Robotic surgery and novel surgical instrumentation present great potentials towards safer, more accurate and consistent minimally invasive surgery. However, their adoption is dependent to the access to training facilities and extensive…

Concentric Tube Robots (CTRs) have garnered significant interest within the surgical robotics community because of their flexibility, dexterity, and ease of miniaturization. However, mastering the unique kinematics and design principles of…

Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…

Soft robotic manipulators with many degrees of freedom can carry out complex tasks safely around humans. However, manufacturing of soft robotic hands with several degrees of freedom requires a complex multi-step manual process, which…

Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…

The design and fabrication of soft robot hands is still a time-consuming and difficult process. Advances in rapid prototyping have accelerated the fabrication process significantly while introducing new complexities into the design process.…

Open Arms is a novel open-source platform of realistic human-like robotic hands and arms hardware with 28 Degree-of-Freedom (DoF), designed to extend the capabilities and accessibility of humanoid robotic grasping and manipulation. The Open…